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Commit f897fcb7 由 张东亮
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1、料叉信号检测等到抽屉推入后检查，以便出现问题不好复位 

2、复位结束后，料叉上有料当作NG处理，将料放到出料缓存区,送到NG料箱
1 个父辈 ec9ffcd0
内嵌 并排
正在显示 8 个修改的文件 包含 146 行增加 和 17 行删除
source/DeviceLibrary/manager/model/DeviceStep.cs
...@@ -215,6 +215,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -215,6 +215,10 @@ namespace OnlineStore.DeviceLibrary
BOX_R04_OtherAxisToP1, BOX_R04_OtherAxisToP1,
#endregion #endregion
#region 清空料叉上的料
#endregion
#region 出库步骤 200开始 #region 出库步骤 200开始
/// <summary> /// <summary>
/// 料仓出库:开始出库 /// 料仓出库:开始出库
......
source/DeviceLibrary/storeBean/EquipBase.cs
...@@ -187,7 +187,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -187,7 +187,7 @@ namespace OnlineStore.DeviceLibrary
return; return;
} }
//若BOX和出料都没有在等待Io的过程中则此Io超时异常可能已经处理过 //若BOX和出料都没有在等待Io的过程中则此Io超时异常可能已经处理过
if (MoveInfo.MoveType.Equals(MoveType.None)) if (MoveInfo.IsInWait.Equals(false) && NoErrorAlarm())
{ {
LogUtil.info(Name + "清理信号超时报警【" + WarnMsg + "】 "); LogUtil.info(Name + "清理信号超时报警【" + WarnMsg + "】 ");
alarmType = AlarmType.None; alarmType = AlarmType.None;
...@@ -541,10 +541,6 @@ namespace OnlineStore.DeviceLibrary ...@@ -541,10 +541,6 @@ namespace OnlineStore.DeviceLibrary
{ {
isNeedAlarmLed = true; isNeedAlarmLed = true;
} }
else if (alarmType.Equals(AlarmType.None).Equals(false))
{
yellowMove = true;
}
......
source/DeviceLibrary/storeBean/boxBean/BoxEquip.cs
...@@ -6,6 +6,8 @@ using System.Collections.Generic; ...@@ -6,6 +6,8 @@ using System.Collections.Generic;
using System.Diagnostics; using System.Diagnostics;
using System.Drawing; using System.Drawing;
using System.Linq; using System.Linq;
using System.Security.Cryptography;
using System.Security.Policy;
using System.Text; using System.Text;
using System.Threading; using System.Threading;
using System.Threading.Tasks; using System.Threading.Tasks;
...@@ -669,11 +671,52 @@ namespace OnlineStore.DeviceLibrary ...@@ -669,11 +671,52 @@ namespace OnlineStore.DeviceLibrary
break; break;
case StepEnum.BOX_R04_OtherAxisToP1: case StepEnum.BOX_R04_OtherAxisToP1:
LogInfo($"复位 {MoveInfo.SLog}：所有轴到达待机位完成"); if (IOValue(IO_Type.ForkA_Tray_Check).Equals(IO_VALUE.HIGH))
BuffAreaInstoreDoor(false); {
BuffAreaOutstoreDoor(false); string posId = $"{CID}AA{1.ToString().PadLeft(2, '0')}{1.ToString().PadLeft(2, '0')}0101";
SetBoxStatus(DeviceStatus.StoreOnline, RunStatus.Runing); MoveInfo.MoveParam = new InOutParam(new InOutPosInfo("ResetNG_A", posId));
MoveInfo.EndMove(); MoveInfo.MoveParam.PosInfo.IsNG = true;
MoveInfo.MoveParam.MoveP = new LineMoveP(Config, MoveInfo.MoveParam.PosInfo.PosId);
if (IOValue(IO_Type.ForkB_Tray_Check).Equals(IO_VALUE.HIGH))
{
posId = $"{CID}BB{1.ToString().PadLeft(2, '0')}{1.ToString().PadLeft(2, '0')}0101";
MoveInfo.MoveParam.PosInfoBack = new InOutPosInfo("ResetNG_B",posId);
MoveInfo.MoveParam.PosInfoBack.IsNG = true;
}
MoveInfo.NextMoveStep(StepEnum.SO_14_GetReels_Ready);
MoveAxisToP1();
PullAxis_UpdownToP1();
UpdownAxisTo_P4_P10();
if (MoveInfo.MoveParam.PosInfoBack == null)
LogInfo($"复位完成 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.barcode}]准备送往出料口。行走机构到待机点P1，料屉升降轴到P1点，移栽升降轴到下暂存区出库放料高点P4/P10");
else
LogInfo($"复位完成 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.ToStr()}][{MoveInfo.MoveParam.PosInfoBack.ToStr()}]，准备送往出料口。行走机构到待机点P1，抽屉升降轴到P1点，移栽升降轴到下暂存区出库放料高点P4/P10");
}
else if (IOValue(IO_Type.ForkB_Tray_Check).Equals(IO_VALUE.HIGH))
{
string posId = $"{CID}BB{1.ToString().PadLeft(2, '0')}{1.ToString().PadLeft(2, '0')}0101";
MoveInfo.MoveParam = new InOutParam(new InOutPosInfo("ResetNG_B", posId));
MoveInfo.MoveParam.PosInfo.IsNG = true;
MoveInfo.MoveParam.MoveP = new LineMoveP(Config, MoveInfo.MoveParam.PosInfo.PosId);
MoveInfo.NextMoveStep(StepEnum.SO_14_GetReels_Ready);
MoveAxisToP1();
PullAxis_UpdownToP1();
UpdownAxisTo_P4_P10();
//BuffAreaOutstoreDoor(true);
if (MoveInfo.MoveParam.PosInfoBack == null)
LogInfo($"复位完成 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.barcode}]，准备送往出料口。行走机构到待机点P1，料屉升降轴到P1点，移栽升降轴到下暂存区出库放料高点P4/P10");
else
LogInfo($"复位完成 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.ToStr()}][{MoveInfo.MoveParam.PosInfoBack.ToStr()}]，准备送往出料口。行走机构到待机点P1，抽屉升降轴到P1点，移栽升降轴到下暂存区出库放料高点P4/P10");
}
else
{
LogInfo($"复位 {MoveInfo.SLog}：所有轴到达待机位完成");
BuffAreaInstoreDoor(false);
BuffAreaOutstoreDoor(false);
SetBoxStatus(DeviceStatus.StoreOnline, RunStatus.Runing);
MoveInfo.EndMove();
}
break; break;
} }
} }
...@@ -809,7 +852,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -809,7 +852,7 @@ namespace OnlineStore.DeviceLibrary
bool result = waitAOutStoreList.TryPeek(out param); bool result = waitAOutStoreList.TryPeek(out param);
if (result && param != null) if (result && param != null)
{ {
bool rtn=StartExecuctOut(param); bool rtn = StartExecuctOut(param);
if (rtn) waitAOutStoreList.TryDequeue(out _); if (rtn) waitAOutStoreList.TryDequeue(out _);
return; return;
} }
......
source/DeviceLibrary/storeBean/boxBean/BoxEquip_InExecute.cs
...@@ -376,7 +376,6 @@ namespace OnlineStore.DeviceLibrary ...@@ -376,7 +376,6 @@ namespace OnlineStore.DeviceLibrary
//入库完成 //入库完成
SetBoxStatus(DeviceStatus.InStoreEnd, RunStatus.Busy, MoveInfo.MoveParam.PosInfo.PosId, MoveInfo.MoveParam.PosInfo.barcode); SetBoxStatus(DeviceStatus.InStoreEnd, RunStatus.Busy, MoveInfo.MoveParam.PosInfo.PosId, MoveInfo.MoveParam.PosInfo.barcode);
executeTime = (DateTime.Now - startTime).TotalSeconds.ToString("f2"); executeTime = (DateTime.Now - startTime).TotalSeconds.ToString("f2");
AddReelCheck(false);
UpdownAxisTo_P6_P12(); UpdownAxisTo_P6_P12();
break; break;
case StepEnum.SI_15_UpDownBack: case StepEnum.SI_15_UpDownBack:
...@@ -428,7 +427,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -428,7 +427,8 @@ namespace OnlineStore.DeviceLibrary
break; break;
case StepEnum.SI_18_PutTrayDown: case StepEnum.SI_18_PutTrayDown:
MoveInfo.NextMoveStep(StepEnum.SI_19_InoutBack); MoveInfo.NextMoveStep(StepEnum.SI_19_InoutBack);
LogInfo($"入库 {MoveInfo.SLog}：抽屉拉取进出轴到拍照点,同时检测{trayAColumns[GetPosColumn()]}=1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); AddReelCheck(false);
LogInfo($"入库 {MoveInfo.SLog}：抽屉拉取进出轴到拍照点,检测料叉信号,同时检测{trayAColumns[GetPosColumn()]}=1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
if (CheckASide()) if (CheckASide())
{ {
if (!GetShieldState(sheidAColmns[GetPosColumn()])) if (!GetShieldState(sheidAColmns[GetPosColumn()]))
......
source/DeviceLibrary/storeBean/boxBean/BoxEquip_OutExecute.cs
...@@ -101,7 +101,6 @@ namespace OnlineStore.DeviceLibrary ...@@ -101,7 +101,6 @@ namespace OnlineStore.DeviceLibrary
case StepEnum.SO_07_GetReel: case StepEnum.SO_07_GetReel:
MoveInfo.NextMoveStep(StepEnum.SO_08_StartCompress); MoveInfo.NextMoveStep(StepEnum.SO_08_StartCompress);
LogInfo($"出库 {MoveInfo.SLog}：压紧轴开始缓慢夹取，移栽压紧轴到压紧点P3[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); LogInfo($"出库 {MoveInfo.SLog}：压紧轴开始缓慢夹取，移栽压紧轴到压紧点P3[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
AddReelCheck(true);
ComAxis_To_P3(); ComAxis_To_P3();
break; break;
case StepEnum.SO_08_StartCompress: case StepEnum.SO_08_StartCompress:
...@@ -159,7 +158,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -159,7 +158,8 @@ namespace OnlineStore.DeviceLibrary
break; break;
case StepEnum.SO_12_PutTrayDown: case StepEnum.SO_12_PutTrayDown:
MoveInfo.NextMoveStep(StepEnum.SO_13_InoutBack); MoveInfo.NextMoveStep(StepEnum.SO_13_InoutBack);
LogInfo($"出库 {MoveInfo.SLog}：抽屉拉取进出轴到拍照点,同时检测{trayAColumns[GetPosColumn()]}=1 [{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); AddReelCheck(true);
LogInfo($"出库 {MoveInfo.SLog}：抽屉拉取进出轴到拍照点,检测料叉信号，同时检测{trayAColumns[GetPosColumn()]}=1 [{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
if (CheckASide()) if (CheckASide())
{ {
if (!GetShieldState(sheidAColmns[GetPosColumn()])) if (!GetShieldState(sheidAColmns[GetPosColumn()]))
......
source/DeviceLibrary/storeBean/inputBean/InputEquip.cs
...@@ -542,6 +542,13 @@ namespace OnlineStore.DeviceLibrary ...@@ -542,6 +542,13 @@ namespace OnlineStore.DeviceLibrary
StartOutstore(param); StartOutstore(param);
return true; return true;
} }
else if(posInfo.IsNG)
{
InOutParam param = new InOutParam(posInfo.ToCopy());
LogInfo($"{posType}物料{param.PosInfo.ToStr()}，准备出库到NG箱");
StartOutstore(param);
return true;
}
if (moveBean.MoveInfo.MoveType == MoveType.None) if (moveBean.MoveInfo.MoveType == MoveType.None)
{ {
doorinfo = moveBean.doorInfo; doorinfo = moveBean.doorInfo;
......
source/DeviceLibrary/storeBean/inputBean/InputEquip_InStore.cs
...@@ -483,7 +483,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -483,7 +483,7 @@ namespace OnlineStore.DeviceLibrary
} }
#endregion #endregion
#region 入料->NG箱上暂存区 #region 入料->NG箱
else if (MoveInfo.IsStep(StepEnum.II81_MiddleToNg)) else if (MoveInfo.IsStep(StepEnum.II81_MiddleToNg))
{ {
MoveInfo.NextMoveStep(StepEnum.II82_InoutToP6); MoveInfo.NextMoveStep(StepEnum.II82_InoutToP6);
...@@ -793,6 +793,14 @@ namespace OnlineStore.DeviceLibrary ...@@ -793,6 +793,14 @@ namespace OnlineStore.DeviceLibrary
#endregion #endregion
#region 出库 #region 出库
private void ToNG()
{
MoveInfo.NextMoveStep(StepEnum.II81_MiddleToNg);
MoveLog($"出库{MoveInfo.SLog}: NG料 升降轴到P8（NG料区放料高点）{Config.Updown_P8_NGH}，旋转轴到P6（NG料区放料点）{Config.Middle_P6_NG}");
MiddleAxis.AbsMove(MoveInfo, Config.Middle_P6_NG, Config.Middle_P6_Speed);
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P8_NGH, Config.Updown_P8_Speed);
}
private DateTime startOutTime = DateTime.Now; private DateTime startOutTime = DateTime.Now;
public override bool StartOutstore(InOutParam param) public override bool StartOutstore(InOutParam param)
{ {
...@@ -890,7 +898,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -890,7 +898,7 @@ namespace OnlineStore.DeviceLibrary
{ {
if (BufferDataManager.AOutStoreInfo != null) if (BufferDataManager.AOutStoreInfo != null)
{ {
if(BufferDataManager.AOutStoreInfo.barcode.Equals(MoveInfo.MoveParam.PosInfo.barcode)) if (BufferDataManager.AOutStoreInfo.barcode.Equals(MoveInfo.MoveParam.PosInfo.barcode))
{ {
MoveInfo.NextMoveStep(StepEnum.IO02_UpdownToP6); MoveInfo.NextMoveStep(StepEnum.IO02_UpdownToP6);
MoveLog($"出库A->{shelf}料串 {MoveInfo.SLog}: 升降轴到P6（A下暂存区取料高点）{Config.Updown_P6_AUnderH},旋转轴到P7（A下暂存区取料点）{Config.Middle_P7_AUnder}"); MoveLog($"出库A->{shelf}料串 {MoveInfo.SLog}: 升降轴到P6（A下暂存区取料高点）{Config.Updown_P6_AUnderH},旋转轴到P7（A下暂存区取料点）{Config.Middle_P7_AUnder}");
...@@ -1017,6 +1025,11 @@ namespace OnlineStore.DeviceLibrary ...@@ -1017,6 +1025,11 @@ namespace OnlineStore.DeviceLibrary
//判断料盘信号是否消失 //判断料盘信号是否消失
if (IOValue(IO_Type.FeedingB_Outstore_UnderArea_ReelCheck).Equals(IO_VALUE.LOW)) if (IOValue(IO_Type.FeedingB_Outstore_UnderArea_ReelCheck).Equals(IO_VALUE.LOW))
{ {
if(MoveInfo.MoveParam.PosInfo.IsNG)
{
ToNG();
return;
}
if (!MiddleToShelf()) if (!MiddleToShelf())
{ {
MoveInfo.NextMoveStep(StepEnum.IO21_WaitShelfReady); MoveInfo.NextMoveStep(StepEnum.IO21_WaitShelfReady);
...@@ -1032,6 +1045,11 @@ namespace OnlineStore.DeviceLibrary ...@@ -1032,6 +1045,11 @@ namespace OnlineStore.DeviceLibrary
} }
else if (MoveInfo.IsStep(StepEnum.IO17_WaitReelCheckLow)) else if (MoveInfo.IsStep(StepEnum.IO17_WaitReelCheckLow))
{ {
if (MoveInfo.MoveParam.PosInfo.IsNG)
{
ToNG();
return;
}
if (!MiddleToShelf()) if (!MiddleToShelf())
{ {
MoveInfo.NextMoveStep(StepEnum.IO21_WaitShelfReady); MoveInfo.NextMoveStep(StepEnum.IO21_WaitShelfReady);
...@@ -1127,6 +1145,63 @@ namespace OnlineStore.DeviceLibrary ...@@ -1127,6 +1145,63 @@ namespace OnlineStore.DeviceLibrary
} }
#endregion #endregion
#region 出库->NG箱
else if (MoveInfo.IsStep(StepEnum.II81_MiddleToNg))
{
MoveInfo.NextMoveStep(StepEnum.II82_InoutToP6);
MoveLog($" 出料->NG箱 {MoveInfo.SLog}: 进出轴到P6（NG料区放料点）{Config.Inout_P6}");
InOutAxis.AbsMove(MoveInfo, Config.Inout_P6, Config.Inout_P6_Speed);
}
else if (MoveInfo.IsStep(StepEnum.II82_InoutToP6))
{
TrayHasLeave();
MoveInfo.NextMoveStep(StepEnum.II83_UpdownToP9);
MoveLog($" 出料->NG箱 {MoveInfo.SLog}: 升降轴到P9（NG料区放料低点）{Config.Updown_P9_NGL}");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P9_NGL, Config.Updown_P9_Speed);
}
else if (MoveInfo.IsStep(StepEnum.II83_UpdownToP9))
{
MoveInfo.NextMoveStep(StepEnum.II84_ClampRelax);
MoveLog($" 出料->NG箱 {MoveInfo.SLog}: 夹爪放松");
ClampRelax(MoveInfo, MoveInfo.MoveParam.PosInfo.barcode);
}
else if (MoveInfo.IsStep(StepEnum.II84_ClampRelax))
{
MoveInfo.NextMoveStep(StepEnum.II85_UpdownToP8);
MoveLog($" 出料->NG箱 {MoveInfo.SLog}: 升降轴到P8（NG料区放料高点）{Config.Updown_P8_NGH}");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P8_NGH, Config.Updown_P8_Speed);
}
else if (MoveInfo.IsStep(StepEnum.II85_UpdownToP8))
{
MoveInfo.NextMoveStep(StepEnum.II86_1_InoutToP1);
MoveLog($" 出料->NG箱 {MoveInfo.SLog}: 进出轴到P1（待机点）{Config.Inout_P1}");
InOutAxis.AbsMove(MoveInfo, Config.Inout_P1, Config.Inout_P1_Speed);
}
else if (MoveInfo.IsStep(StepEnum.II86_1_InoutToP1))
{
if (shelf.Equals(1))
{
MoveLog($" 出料->NG箱放料结束");
MoveInfo.EndMove();
runStatus = RunStatus.Runing;
}
else
{
//旋转轴暂不回待机点
MoveInfo.NextMoveStep(StepEnum.II86_MiddleToP1);
MoveLog($" 出料->NG箱 {MoveInfo.SLog}: 旋转轴 到P1(待机点){Config.Middle_P1}");
MiddleAxis.AbsMove(MoveInfo, Config.Middle_P1, Config.Middle_P1_Speed);
}
}
else if (MoveInfo.IsStep(StepEnum.II86_MiddleToP1))
{
TimeSpan span = DateTime.Now - startInTime;
MoveLog($" 出料->NG箱放料结束，耗时【{FormUtil.GetSpanStr(span)}】");
MoveInfo.EndMove();
runStatus = RunStatus.Runing;
}
#endregion
} }
private bool MiddleToShelf() private bool MiddleToShelf()
{ {
......
source/XLRStoreClient/记录.txt
...@@ -34,3 +34,7 @@ PRO,0,提升轴上料扫码点_A侧,BatchAxisP4_A,0,,,,,,,,,,,, ...@@ -34,3 +34,7 @@ PRO,0,提升轴上料扫码点_A侧,BatchAxisP4_A,0,,,,,,,,,,,,
PRO,0,提升轴上料扫码点_B侧,BatchAxisP4_B,0,,,,,,,,,,,, PRO,0,提升轴上料扫码点_B侧,BatchAxisP4_B,0,,,,,,,,,,,,
PRO,0,提升上料轴P4速度/运动到扫码点速度,BatchAxis_P4Speed,5000,,,,,,,,,,,, PRO,0,提升上料轴P4速度/运动到扫码点速度,BatchAxis_P4Speed,5000,,,,,,,,,,,,
2023/8/8
1、料叉信号检测等到抽屉推入后检查，以便出现问题不好复位
2、复位结束后，料叉上有料当作NG处理，将料放到出料缓存区,送到NG料箱
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